CN114333368A - Voice reminding method, device, equipment and medium - Google Patents
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Abstract
The disclosure provides a voice reminding method, a voice reminding device, voice reminding equipment and a voice reminding medium, and relates to the technical field of artificial intelligence, in particular to an automatic driving technology. The method comprises the following steps: determining a position relationship between the autonomous vehicle and the target area, wherein an autonomous driving path of the autonomous vehicle indicates that the autonomous vehicle enters the target area, stops temporarily, and then exits the target area; in response to determining that the autonomous vehicle is located within the target area, determining whether to perform an off-board voice alert based on environmental information of the target area, the environmental information indicating at least one of a category and a location of an object within the target area; and responding to the determination of the voice prompt outside the vehicle, and playing first voice prompt content to the outside of the automatic driving vehicle.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence technologies, and in particular, to a voice reminding method, a voice reminding apparatus, an electronic device, a computer-readable storage medium, and a computer program product.
Background
Artificial intelligence is the subject of research that makes computers simulate some human mental processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), both at the hardware level and at the software level. The artificial intelligence hardware technology generally comprises technologies such as a sensor, a special artificial intelligence chip, cloud computing, distributed storage, big data processing and the like, and the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, machine learning/deep learning, a big data processing technology, a knowledge graph technology and the like.
With the high-speed development of the field of automatic driving, the intelligence and autonomy of automatic driving are gradually improved, and the applicable scenes are more and more abundant. However, in some complex scenarios, in order to improve the safety of automatic driving, an auxiliary means may be used to intervene in the driving environment of the automatic driving vehicle, or to remind a security officer.
The approaches described in this section are not necessarily approaches that have been previously conceived or pursued. Unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, unless otherwise indicated, the problems mentioned in this section should not be considered as having been acknowledged in any prior art.
Disclosure of Invention
The present disclosure provides a voice alert method, a voice alert apparatus, an electronic device, a computer readable storage medium, and a computer program product.
According to an aspect of the present disclosure, a voice reminding method is provided, including: determining a position relationship between the autonomous vehicle and the target area, wherein an autonomous driving path of the autonomous vehicle indicates that the autonomous vehicle enters the target area, stops temporarily, and then exits the target area; in response to determining that the autonomous vehicle is located within the target area, determining whether to perform an off-board voice alert based on environmental information of the target area, the environmental information indicating at least one of a category and a location of an object within the target area; and responding to the determination of the voice prompt outside the vehicle, and playing first voice prompt content to the outside of the automatic driving vehicle.
According to another aspect of the present disclosure, there is provided a voice reminding device, including: a first determination unit configured to determine a positional relationship between an autonomous vehicle and a target area, wherein an autonomous driving path of the autonomous vehicle indicates that the autonomous vehicle enters the target area and stops temporarily, and then exits the target area; a second determination unit configured to determine whether to perform an off-vehicle voice alert based on environmental information of a target area in response to a determination that the autonomous vehicle is located within the target area, the environmental information indicating at least one of a category and a position of an object within the target area; and the playing unit is configured to respond to the determination of the voice prompt outside the automobile and play the first voice prompt content to the outside of the automatic driving automobile.
According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method described above.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the above method.
According to another aspect of the disclosure, a computer program product is provided, comprising a computer program, wherein the computer program realizes the above method when executed by a processor.
According to one or more embodiments of the disclosure, safety and efficiency of the automatic driving vehicle in a complex scene of temporary parking can be improved by automatically judging whether the automatic driving vehicle is in a temporary parking area or not and judging whether to perform voice prompt outside the vehicle according to environment information outside the vehicle.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the embodiments and, together with the description, serve to explain the exemplary implementations of the embodiments. The illustrated embodiments are for purposes of illustration only and do not limit the scope of the claims. Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements.
FIG. 1 illustrates a schematic diagram of an exemplary system in which various methods described herein may be implemented, according to an embodiment of the present disclosure;
FIG. 2 shows a flow chart of a voice alert method according to an example embodiment of the present disclosure;
FIG. 3 shows a flow chart of a voice alert method according to an example embodiment of the present disclosure;
FIG. 4 shows a block diagram of a voice alert device according to an exemplary embodiment of the present disclosure;
FIG. 5 shows a block diagram of a voice alert device according to an exemplary embodiment of the present disclosure; and
FIG. 6 sets forth a block diagram of exemplary electronic devices that can be used to implement embodiments of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, the timing relationship, or the importance relationship of the elements, and such terms are used only to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, based on the context, they may also refer to different instances.
The terminology used in the description of the various examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the elements may be one or more. Furthermore, the term "and/or" as used in this disclosure is intended to encompass any and all possible combinations of the listed items.
In the related art, the existing automatic driving vehicle cannot effectively disperse pedestrians or vehicles when entering a temporary parking area, so that potential safety hazards are easily generated in such a complex scene, and the burden of an automatic driving system is increased.
In order to solve the problem, according to the automatic parking system, whether the automatic driving vehicle is in a temporary parking area or not is automatically judged, whether the voice reminding outside the vehicle is required or not is judged according to the environment information outside the vehicle, and the safety and the efficiency of the automatic driving vehicle in the temporary parking scene can be improved.
Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.
Fig. 1 illustrates a schematic diagram of an exemplary system 100 in which various methods and apparatus described herein may be implemented in accordance with embodiments of the present disclosure. Referring to fig. 1, the system 100 includes a motor vehicle 110, a server 120, and one or more communication networks 130 coupling the motor vehicle 110 to the server 120.
In embodiments of the present disclosure, motor vehicle 110 may include a computing device and/or be configured to perform a method in accordance with embodiments of the present disclosure.
The server 120 may run one or more services or software applications for a voice alert method for an autonomous vehicle. In some embodiments, the server 120 may also provide other services or software applications that may include non-virtual environments and virtual environments. In the configuration shown in fig. 1, server 120 may include one or more components that implement the functions performed by server 120. These components may include software components, hardware components, or a combination thereof, which may be executed by one or more processors. A user of motor vehicle 110 may, in turn, utilize one or more client applications to interact with server 120 to take advantage of the services provided by these components. It should be understood that a variety of different system configurations are possible, which may differ from system 100. Accordingly, fig. 1 is one example of a system for implementing the various methods described herein and is not intended to be limiting.
The server 120 may include one or more general purpose computers, special purpose server computers (e.g., PC (personal computer) servers, UNIX servers, mid-end servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and/or combination. The server 120 may include one or more virtual machines running a virtual operating system, or other computing architecture involving virtualization (e.g., one or more flexible pools of logical storage that may be virtualized to maintain virtual storage for the server). In various embodiments, the server 120 may run one or more services or software applications that provide the functionality described below.
The computing units in server 120 may run one or more operating systems including any of the operating systems described above, as well as any commercially available server operating systems. The server 120 may also run any of a variety of additional server applications and/or middle tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, and the like.
In some embodiments, server 120 may include one or more applications to analyze and consolidate data feeds and/or event updates received from motor vehicle 110. Server 120 may also include one or more applications to display data feeds and/or real-time events via one or more display devices of motor vehicle 110.
Network 130 may be any type of network known to those skilled in the art that may support data communications using any of a variety of available protocols, including but not limited to TCP/IP, SNA, IPX, etc. By way of example only, one or more networks 110 may be a satellite communication network, a Local Area Network (LAN), an ethernet-based network, a token ring, a Wide Area Network (WAN), the internet, a virtual network, a Virtual Private Network (VPN), an intranet, an extranet, a Public Switched Telephone Network (PSTN), an infrared network, a wireless network (including, e.g., bluetooth, WiFi), and/or any combination of these and other networks.
The system 100 may also include one or more databases 150. In some embodiments, these databases may be used to store data and other information. For example, one or more of the databases 150 may be used to store information such as audio files and video files. The data store 150 may reside in various locations. For example, the data store used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The data store 150 may be of different types. In certain embodiments, the data store used by the server 120 may be a database, such as a relational database. One or more of these databases may store, update, and retrieve data to and from the database in response to the command.
In some embodiments, one or more of the databases 150 may also be used by applications to store application data. The databases used by the application may be different types of databases, such as key-value stores, object stores, or regular stores supported by a file system.
The system 100 of fig. 1 may be configured and operated in various ways to enable application of the various methods and apparatus described in accordance with the present disclosure.
According to one aspect of the present disclosure, a method of voice alert for an autonomous vehicle is provided. As shown in fig. 1, the method includes: step S201, determining a position relation between the automatic driving vehicle and a target area, wherein the automatic driving path of the automatic driving vehicle indicates that the automatic driving vehicle drives into the target area and stops temporarily, and then drives out of the target area; step S202, in response to determining that the autonomous driving vehicle is located in the target area, determining whether to perform voice reminding outside the vehicle based on environment information of the target area, wherein the environment information indicates at least one of the category and the position of an object in the target area; and step S203, responding to the determination of the voice prompt outside the automobile, and playing first voice prompt content to the outside of the automatic driving vehicle.
Therefore, whether the automatic driving vehicle is in the temporary parking area or not is automatically judged, whether the voice reminding is required to be carried out outside the vehicle is judged according to the environment information outside the vehicle, and the safety and the efficiency of the automatic driving vehicle in the complex scene of temporary parking can be improved.
According to some embodiments, the autonomous vehicle may be an operation class vehicle, which may include, for example, an autonomous bus and an autonomous taxi. Accordingly, the target area may be, for example, a bus stop or a taxi stop. The present disclosure will be described using an autonomous bus and bus station as examples, but is not intended to be limiting. It is to be understood that the present disclosure may be applied to any autonomous vehicle and target area for temporary parking of the autonomous vehicle, and is not limited thereto.
The target area may be, for example, completely matched with an actual bus stop area or a taxi stop point, may be correspondingly enlarged or reduced, or may be determined according to other rules, which is not limited herein.
According to some embodiments, the step S201 of determining the positional relationship between the autonomous vehicle and the target area may include: the position relationship between the autonomous vehicle and the target area is determined based on the positioning information of the autonomous vehicle, the high-precision map information, and the autonomous driving path. Therefore, the automatic driving vehicle can accurately judge the position relation between the vehicle and the target area based on the positioning information and the high-precision map information of the automatic driving vehicle and the automatic driving path planned by the automatic driving system, and further judge whether to carry out voice reminding when the vehicle and the target area meet a specific relation, so that the voice reminding can be carried out at a more proper and accurate time.
In response to determining that the autonomous vehicle is located within the target area, it is determined whether to perform an off-vehicle voice alert based on environmental information of the target area at step S202.
The environmental information may be acquired by a sensor of the autonomous vehicle for sensing the external environment and road surface information, for example. The environmental information may include the category and location of objects within the target area, such as the location of pedestrians, vehicles, obstacles, etc. within the target area. The environmental information may also include other information about the objects, such as direction of motion, speed, etc., for determining whether the objects are moving within or outside of an autonomous driving path to the autonomous vehicle, and is not limited herein.
According to some embodiments, the step S202, in response to determining that the autonomous vehicle is located within the target area, determining whether to perform the off-board voice alert based on the environmental information of the target area may include: determining to conduct an off-board voice alert in response to determining that a pedestrian is included within a first target range around an autonomous driving path in front of an autonomous vehicle within a target area. The first voice reminder content can include voice reminder content for a pedestrian. From this, through broadcast when detecting near the autopilot route in vehicle the place ahead and reminding the content to pedestrian's pronunciation, can dispel in advance the pedestrian in the platform to improve the safety and the efficiency of autopilot bus operation.
The first target range may be static, such as a region having a preset length and a preset width along the autonomous driving path in front of the vehicle, or dynamic, such as the size of the first target range may be adjusted according to the speed of the autonomous driving vehicle. In one example, the magnitude of the first target range may have a positive correlation with the vehicle speed of the autonomous vehicle.
It is understood that the position, shape and size of the first target range can be designed by those skilled in the art according to the requirement, and are not limited herein.
In one example, the voice alert content for a pedestrian may be, for example: "vehicle enters station, please wait at the station safety position". The voice reminding can be performed when the pedestrian is detected in the first target range every time, and the minimum reminding interval and the maximum reminding times can also be set.
According to some embodiments, the step S202, in response to determining that the autonomous vehicle is located within the target area, determining whether to perform the off-board voice alert based on the environmental information of the target area may include: determining to conduct an off-board voice alert in response to determining that a vehicle of a different category than the autonomous vehicle is included within a second target range around the autonomous path in front of the autonomous vehicle within the target area. The first voice reminder content can include voice reminder content for the vehicle. Therefore, when other types of vehicles (such as motor vehicles and non-motor vehicles except buses) are detected near the automatic driving path in front of the vehicle, voice reminding contents for the vehicles are played, the vehicles in the platform can be dispersed in advance, and the safety and efficiency of automatic bus driving operation are improved.
According to some embodiments, the categories of vehicles may be classified, for example, by function, as private cars, buses, taxis, vans, and so forth. Given that the target area is typically a temporary stopping area dedicated to that type of vehicle (e.g., a bus stop, a taxi stop, etc.), other vehicles should not drive into that area and thus may be alerted audibly when they are detected as interfering with the autonomous vehicle.
Similarly, the second target range may be static, such as a region in front of the vehicle having a preset length and a preset width along the autonomous driving path, or dynamic, such as the size of the first target range may be adjusted according to the speed of the autonomous vehicle. In one example, the magnitude of the second target range may have a positive correlation with the vehicle speed of the autonomous vehicle. The size of the first target range and the size of the second target range may be the same or different, and are not limited herein. In one example, the first target range may be greater than the second target range, considering that the unpredictability of pedestrian behavior is typically greater than the vehicle, and that the speed of pedestrians is typically slower than the vehicle.
It is understood that the position, shape and size of the second target range can be designed by those skilled in the art according to the requirement, and are not limited herein.
In one example, the voice alert content for the vehicle may be, for example: "vehicle enters station, please note avoid". The voice reminding can be performed when the vehicle is detected in the second target range every time, and the minimum reminding interval and the maximum reminding times can also be set.
According to some embodiments, the step S202, in response to determining that the autonomous vehicle is located within the target area, determining whether to perform the off-board voice alert based on the environmental information of the target area may include: determining to conduct an off-board voice alert in response to determining that a pedestrian is included within a first target range around an autonomous driving path in front of the autonomous vehicle within the target area and a vehicle of a different category than the autonomous vehicle is included within a second target range around the autonomous driving path in front of the autonomous vehicle. The first voice reminder content can include voice reminder content for pedestrians and voice reminder content for vehicles, and the voice reminder for pedestrians can be preferentially played. Therefore, the two voice reminding contents are broadcast alternately when the pedestrian and the vehicle are detected simultaneously, and the pedestrian and the vehicle can be reminded of giving way for the automatic driving vehicle at the same time. And the safety of automatic driving can be further improved by preferentially broadcasting the voice reminding content for the pedestrians.
According to some embodiments, the step S202, in response to determining that the autonomous vehicle is located within the target area, determining whether to perform the off-board voice alert based on the environmental information of the target area may include: determining not to perform the off-board voice alert in response to determining that a vehicle of the same category as the autonomous vehicle is included within a second target range around the autonomous path in front of the autonomous vehicle within the target area. Vehicles of the same category as the autonomous vehicles are vehicles in which the target area should appear, and therefore voice warning may not be performed when these vehicles are detected.
According to some embodiments, as shown in fig. 3, the voice reminding method may further include: step S304, in response to determining that the autonomous vehicle is located within the target area and that the autonomous task of the autonomous vehicle cannot continue to be performed, playing a second voice prompt to a safer of the autonomous vehicle. The second voice prompt prompts the security officer to take over the automatic driving vehicle. Therefore, voice reminding can be carried out on the safety personnel when the automatic driving task cannot be continuously executed by detecting the complex scene of temporary stopping, manual taking-over reminding can be directly and efficiently carried out on the safety personnel, and the safety of the automatic driving vehicle in the complex scene of temporary stopping is improved.
Other ways of alerting security personnel may also be used according to some embodiments. In one example, a manual takeover reminder may be displayed, for example, on an automated driving human machine interaction terminal. It is understood that other ways may be used by those skilled in the art to alert a security officer, and are not limited herein.
In some embodiments, a voice alert may also be provided off-board the autonomous vehicle upon detecting the autonomous vehicle entering a target area, exiting the target area, or being located at another particular location. In one example, a voice prompt of "approaching, please note to avoid" may be played 50 meters before the autonomous vehicle enters the station. In another example, a "vehicle is out, please note safety" voice prompt may be played when the autonomous vehicle is ready to be out.
According to another aspect of the present disclosure, a voice alert device is provided. As shown in fig. 4, the voice reminding apparatus 400 includes: a first determination unit 410 configured to determine a positional relationship between the autonomous vehicle and the target area, wherein an autonomous driving path of the autonomous vehicle indicates that the autonomous vehicle enters the target area and is temporarily parked, and then exits the target area; a second determination unit 420 configured to determine whether to perform an off-vehicle voice alert based on environmental information of the target area, the environmental information indicating at least one of a category and a position of an object within the target area, in response to determining that the autonomous vehicle is located within the target area; and a first playing unit 430 configured to play the first voice prompt content to the outside of the autonomous vehicle in response to determining to perform the outside voice prompt. The operation of the units 410-430 in the apparatus 400 is similar to the operation of the steps S201-S203 in fig. 2, and is not described herein again.
According to some embodiments, determining whether to perform the off-board voice reminder based on the environmental information of the target area may include: determining to conduct an off-board voice alert in response to determining that a pedestrian is included within a first target range around an autonomous driving path in front of an autonomous vehicle within a target area. The first voice reminder content can include voice reminder content for a pedestrian.
According to some embodiments, determining whether to perform the off-board voice reminder based on the environmental information of the target area may include: determining to conduct an off-board voice alert in response to determining that a vehicle of a different category than the autonomous vehicle is included within a second target range around the autonomous path in front of the autonomous vehicle within the target area. The first voice reminder content can include voice reminder content for the vehicle.
According to some embodiments, determining whether to perform the off-board voice reminder based on the environmental information of the target area may include: determining to conduct an off-board voice alert in response to determining that a pedestrian is included within a first target range around an autonomous driving path in front of the autonomous vehicle within the target area and a vehicle of a different category than the autonomous vehicle is included within a second target range around the autonomous driving path in front of the autonomous vehicle. The first voice alert content may include voice alert content for pedestrians and voice alert content for vehicles, and wherein the voice alert content for pedestrians is preferentially played.
According to some embodiments, determining whether to perform the off-board voice reminder based on the environmental information of the target area may include: determining not to perform the off-board voice alert in response to determining that a vehicle of the same category as the autonomous vehicle is included within a second target range around the autonomous path in front of the autonomous vehicle within the target area.
According to some embodiments, determining a positional relationship between the autonomous vehicle and the target area may include: the position relationship between the autonomous vehicle and the target area is determined based on the positioning information of the autonomous vehicle, the high-precision map information, and the autonomous driving path.
According to some embodiments, as shown in fig. 5, the apparatus 500 further comprises: a second playing unit 540 configured to play a second voice prompt content to a security officer of the autonomous vehicle, the second voice prompt content prompting the security officer to take over the autonomous vehicle, in response to determining that the autonomous vehicle is located within the target area and in response to detecting that the autonomous task of the autonomous vehicle cannot be continuously performed. The operations of the units 510 and 530 in the device 500 are similar to the operations of the units 410 and 430 in the device 400, and are not described herein again.
There is also provided, in accordance with an embodiment of the present disclosure, an electronic device, a vehicle, a readable storage medium, and a computer program product.
Referring to fig. 6, a block diagram of a structure of an electronic device 600, which may be a server or a client of the present disclosure, which is an example of a hardware device that may be applied to aspects of the present disclosure, will now be described. Electronic device is intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 6, the apparatus 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)602 or a computer program loaded from a storage unit 608 into a Random Access Memory (RAM) 603. In the RAM603, various programs and data required for the operation of the device 600 can also be stored. The calculation unit 601, the ROM 602, and the RAM603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
A number of components in the device 600 are connected to the I/O interface 605, including: an input unit 606, an output unit 607, a storage unit 608, and a communication unit 609. The input unit 606 may be any type of device capable of inputting information to the device 600, and the input unit 606 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device, and may include, but is not limited to, a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and/or a remote control. Output unit 607 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, a video/audio output terminal, a vibrator, and/or a printer. The storage unit 608 may include, but is not limited to, a magnetic disk, an optical disk. The communication unit 609 allows the device 600 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and/or a chipset, such as a bluetooth (TM) device, an 802.11 device, a WiFi device, a WiMax device, a cellular communication device, and/or the like.
The computing unit 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning network algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 601 performs the respective methods and processes described above, such as the voice alert method. For example, in some embodiments, the voice alert method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 600 via the ROM 602 and/or the communication unit 609. When the computer program is loaded into RAM603 and executed by the computing unit 601, one or more steps of the voice alert method described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the voice alert method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server can be a cloud Server, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service ("Virtual Private Server", or simply "VPS"). The server may also be a server of a distributed system, or a server incorporating a blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be performed in parallel, sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the above-described methods, systems and apparatus are merely exemplary embodiments or examples and that the scope of the present invention is not limited by these embodiments or examples, but only by the claims as issued and their equivalents. Various elements in the embodiments or examples may be omitted or may be replaced with equivalents thereof. Further, the steps may be performed in an order different from that described in the present disclosure. Further, various elements in the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced with equivalent elements that appear after the present disclosure.
Claims (19)
1. A voice alert method for an autonomous vehicle, comprising:
determining a position relationship between an autonomous vehicle and a target area, wherein an autonomous driving path of the autonomous vehicle indicates that the autonomous vehicle enters the target area and stops temporarily, and then exits the target area;
in response to determining that the autonomous vehicle is located within the target area, determining whether to perform an off-board voice alert based on environmental information of the target area, the environmental information indicating at least one of a category and a location of an object within the target area; and
and responding to the determination of the voice prompt outside the vehicle, and playing first voice prompt content to the outside of the automatic driving vehicle.
2. The method of claim 1, wherein the determining whether to perform an off-board voice reminder based on the environmental information of the target area comprises:
determining to conduct an off-board voice alert in response to determining that a pedestrian is included within the target area within a first target range around the autonomous driving path ahead of the autonomous vehicle, wherein the first voice alert content includes voice alert content for a pedestrian.
3. The method of claim 1 or 2, wherein the determining whether to perform an off-board voice reminder based on the environmental information of the target area comprises:
determining to conduct an off-board voice alert in response to determining that a vehicle of a different category than the autonomous vehicle is included within a second target range around the autonomous driving path ahead of the autonomous vehicle within the target area, wherein the first voice alert content includes voice alert content for a vehicle.
4. The method of claim 1, wherein the determining whether to perform an off-board voice reminder based on the environmental information of the target area comprises:
determining to conduct an off-board voice reminder in response to determining that a pedestrian is included within a first target range around the autonomous driving path in front of the autonomous vehicle within the target area and a vehicle of a different category than the autonomous vehicle is included within a second target range around the autonomous driving path in front of the autonomous vehicle, wherein the first voice reminder content includes voice reminder content for pedestrians and voice reminder content for vehicles, and wherein the voice reminder content for pedestrians is preferentially played.
5. The method of any of claims 1-4, wherein the determining whether to perform an off-board voice reminder based on the environmental information of the target area comprises:
determining not to perform an off-board voice alert in response to determining that a vehicle of the same category as the autonomous vehicle is included within a second target range around the autonomous path ahead of the autonomous vehicle within the target area.
6. The method of any of claims 1-5, wherein the determining a positional relationship between an autonomous vehicle and a target area comprises:
determining a positional relationship between the autonomous vehicle and the target area based on the positioning information of the autonomous vehicle, the high-precision map information, and the autonomous driving path.
7. The method of any of claims 1-6, further comprising:
in response to determining that the autonomous vehicle is located within the target area and in response to detecting that an autonomous driving task of the autonomous vehicle cannot continue to be performed, playing a second voice reminder to a safer of the autonomous vehicle, the second voice reminder prompting the safer to take over the autonomous vehicle.
8. The method of any of claims 1-7, wherein the autonomous vehicle is an autonomous bus and the target area is a bus stop area.
9. A voice alert device for an autonomous vehicle comprising:
a first determination unit configured to determine a positional relationship between an autonomous vehicle and a target area, wherein an autonomous driving path of the autonomous vehicle indicates that the autonomous vehicle enters the target area and is temporarily parked, and then exits the target area;
a second determination unit configured to determine whether to perform an off-board voice alert based on environmental information of the target area, the environmental information indicating at least one of a category and a location of an object within the target area, in response to determining that the autonomous vehicle is located within the target area; and
and the first playing unit is configured to play first voice reminding content to the outside of the automatic driving vehicle in response to the determination of the voice reminding outside the automatic driving vehicle.
10. The apparatus of claim 9, wherein the determining whether to perform an off-board voice reminder based on the environmental information of the target area comprises:
determining to conduct an off-board voice alert in response to determining that the target area includes a pedestrian within a first target range around the autonomous driving path in front of the autonomous vehicle,
wherein the first voice prompt content comprises voice prompt content for pedestrians.
11. The apparatus of claim 9 or 10, wherein the determining whether to perform an off-board voice reminder based on the environmental information of the target area comprises:
determining to perform an off-board voice alert in response to determining that a vehicle of a different category than the autonomous vehicle is included within a second target range around the autonomous path ahead of the autonomous vehicle within the target area,
wherein the first voice prompt content comprises voice prompt content for a vehicle.
12. The apparatus of claim 9, wherein the determining whether to perform an off-board voice reminder based on the environmental information of the target area comprises:
determining to conduct an off-board voice alert in response to determining that the target area includes a pedestrian within a first target range around the autonomous driving path in front of the autonomous vehicle and includes a vehicle of a different category than the autonomous vehicle within a second target range around the autonomous driving path in front of the autonomous vehicle,
wherein the first voice prompt content comprises voice prompt content for pedestrians and voice prompt content for vehicles, and wherein the voice prompt content for pedestrians is preferentially played.
13. The apparatus of any of claims 9-12, wherein the determining whether to perform an off-board voice reminder based on the environmental information of the target area comprises:
determining not to perform an off-board voice alert in response to determining that a vehicle of the same category as the autonomous vehicle is included within a second target range around the autonomous path ahead of the autonomous vehicle within the target area.
14. The apparatus of any of claims 9-13, wherein the determining a positional relationship between the autonomous vehicle and the target area comprises:
determining a positional relationship between the autonomous vehicle and the target area based on the positioning information of the autonomous vehicle, the high-precision map information, and the autonomous driving path.
15. The apparatus of any of claims 9-14, further comprising:
a second playing unit configured to play a second voice prompt to a safer of the autonomous vehicle in response to determining that the autonomous vehicle is located within the target area and in response to detecting that an autonomous task of the autonomous vehicle cannot be continuously performed, the second voice prompt prompting the safer to take over the autonomous vehicle.
16. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.
17. A vehicle comprising the electronic device of claim 16.
18. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-8.
19. A computer program product comprising a computer program, wherein the computer program realizes the method of any one of claims 1-8 when executed by a processor.
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